ECE486

Robot Dynamics and Control

Spring 2013

Course Description: This course covers the algorithms and conventions used for modeling and
controlling articulated robotic systems such as robot arms. In the first half of the course, kinematic
and dynamic models of robot arm motion are developed. In the second half of the course, algorithms
for designing robot trajectories and controllers are introduced. The course also has a laboratory
component, where robot trajectory planning, kinematic and dynamic modeling and control strategies
are demonstrated.
Instructor: Prof. Stephen L. Smith

(stephen.smith@uwaterloo.ca; Office: EIT 3108).

Course Objectives: At the end of the course you should be able to:

Formulate the Denavit-Hartenberg transformation matrices for any serial-link manipulator

Compute the forward and inverse kinematics of any serial-link manipulator
Write the equations of motion for a manipulator
Design a point-to-point or via-point trajectory for a manipulator
Develop and implement a variety of controllers for implementing joint space or task space
control for any serial-link manipulator

Course Prerequisites: ECE 380 or equivalent, or permission of the instructor.

Course Outline: Homogeneous transformations. Kinematics and inverse kinematics. DenavitHartenberg convention. Jacobians and velocity transformations. Dynamics. Path planning. Nonlinear control. Compliance and force control.
Week

Lecture Topic

Introduction and Course Overview

Homogeneous transformations: Rotations, translations, forward and inverse homogeneous

transformations, skew symmetric matrices, time-varying transformations

Forward kinematics: Denavit-Hartenberg convention for frame assignment, examples

Inverse Kinematics

Differential Kinematics: manipulator Jacobian, derivation and interpretation

Differential Kinematics: singularities: causes, effects and interpretation, examples

Dynamics: Review of basic free-body diagrams, moments of inertia. Manipulator kinetic

and potential energies, Euler-Lagrange derivation of equations of motion

Dynamics: Newton-Euler derivation, Examples

Path Planning: Point-to-point, linear interpolation, blending, splines, via points

10

Control: Independent joint control, computed-torque, feed forward control, joint space
control, inverse dynamics

11

Control: Operational space control, force & hybrid control, interaction and constraints

12

Control: Interaction and Constraints

Textbook: The required text for the course is

M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Wiley,

2005. ISBN: 978-0-471-64990-8.
Grading: The course grade will be based on a midterm examination, lab assignments, and a final
examination, which will be held during the Official Examination Schedule. The breakdown is as
follows:
Lab Assignments: 30%
Midterm Examination: 20%
Final Exam: 50%
There will be 4 lab assignments each contributing equally to the final grade. Detailed information
about the lab can be found on the lab website: http://www.ece.uwaterloo.ca/~lab486.
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